1 files changed, 53 insertions, 0 deletions
diff --git a/src/main/scala/sims/collision/PolyCollision.scala b/src/main/scala/sims/collision/PolyCollision.scala
new file mode 100644
index 0000000..5296f41
--- /dev/null
+++ b/src/main/scala/sims/collision/PolyCollision.scala
@@ -0,0 +1,53 @@
+/*
+ * Simple Mechanics Simulator (SiMS)
+ * copyright (c) 2009 Jakob Odersky
+ * made available under the MIT License
+*/
+
+package sims.collision
+
+import sims.geometry._
+import sims.dynamics._
+import scala.collection.mutable.Map
+
+/**Collision between two convex polygons.*/
+case class PolyCollision(p1: ConvexPolygon, p2: ConvexPolygon) extends Collision {
+  require(p1.isInstanceOf[Shape])
+  require(p2.isInstanceOf[Shape])
+  
+  def overlap(axis: Vector2D) = {
+   // println((p1.project(axis) overlap p2.project(axis)).toString + "	to	" +  (p2.project(axis) overlap p1.project(axis)))
+    p1.project(axis) overlap p2.project(axis)
+  }
+  
+  lazy val overlaps = (for (i <- 0 until p2.sides.length) yield Overlap(p2, i, overlap(p2.sides(i).n0))) ++ 
+    			 (for (i <- 0 until p1.sides.length) yield Overlap(p1, i, overlap(p1.sides(i).n0)))
+  
+  private var potMinOverlap = overlaps.find(_.overlap > 0.0)
+  require(potMinOverlap != None)
+  private var _minOverlap: Overlap = potMinOverlap.get
+  var minOverlap: Overlap = { 
+    for (o <- overlaps) if ((o.overlap < _minOverlap.overlap) && (o.overlap > 0.0)) _minOverlap = o
+    _minOverlap
+  }
+  
+  
+  private lazy val refPoly = minOverlap.poly
+  private lazy val incPoly = if (minOverlap.poly eq p1) p2 else p1
+  
+  lazy val shape1 = refPoly.asInstanceOf[Shape]
+  lazy val shape2 = incPoly.asInstanceOf[Shape]
+  
+  lazy val normal = refPoly.sides(minOverlap.sideNum).n0
+  lazy val points = (for (v <- incPoly.vertices; if refPoly.contains(v)) yield v)++
+    (for (v <- refPoly.vertices; if incPoly.contains(v)) yield v)
+  
+  /* ++
+    (for (s <- incPoly.sides;
+    val clip = s.clipToSegment(refPoly.sides((refPoly.sides.length - (minOverlap.sideNum + 1)) % refPoly.sides.length));
+    if (clip != None)) yield clip.get) ++ 
+    (for (s <- incPoly.sides;
+    val clip = s.clipToSegment(refPoly.sides((refPoly.sides.length - (minOverlap.sideNum - 1)) % refPoly.sides.length));
+    if (clip != None)) yield clip.get)
+  */
+}